Phase 1 / Forge / Narrowphase: EPA + contact manifold#56

Merged

guysenpai merged 25 commits into

mainfrom

phase-1/forge/narrowphase-epa-manifold

Jul 20, 2026

Commits on Jul 19, 2026

docs(brief): add M1.1.3 frozen brief
guysenpai
committed
refactor(forge): split narrowphase into a package (M1.1.3)
guysenpai
committed
feat(forge): add supportingFace and contact manifold types (M1.1.3)
guysenpai
committed
docs(brief): correct supportingFace direction wording (M1.1.3)
guysenpai
committed
feat(forge): add EPA penetration depth and normal (M1.1.3)
guysenpai
committed
fix(forge): harden EPA polytope robustness (M1.1.3)
guysenpai
committed
docs(brief): epa signature carries pose for world output (M1.1.3)
guysenpai
committed
feat(forge): add contact manifold generator (M1.1.3)
guysenpai
committed
feat(forge): wire contact manifold into forge_3d (M1.1.3)
guysenpai
committed
fix(forge): harden contact manifold (M1.1.3)
guysenpai
committed
fix(forge): unique frame-stable manifold feature ids (M1.1.3)
guysenpai
committed
docs(brief): ratify collide identical-pose order exception (M1.1.3)
guysenpai
committed
test(forge): cover reference-corner manifold feature id (M1.1.3)
guysenpai
committed
fix(forge): reference-corner feature id + pose sweep (M1.1.3)
guysenpai
committed
docs(brief): log reference-corner feature id fix + pose sweep (M1.1.3)
guysenpai
committed
fix(forge): encode incident face in reference corner id (M1.1.3)
guysenpai
committed
docs(brief): log incident-face reference-corner id fix (M1.1.3)
guysenpai
committed
fix(forge): class-tag single-contact feature ids (M1.1.3)
guysenpai
committed
docs(brief): log single-contact feature id class-tagging (M1.1.3)
guysenpai
committed

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Phase 1 / Forge / Narrowphase: EPA + contact manifold#56

Phase 1 / Forge / Narrowphase: EPA + contact manifold#56
guysenpai merged 25 commits into
mainfrom
phase-1/forge/narrowphase-epa-manifold

Commits on Jul 19, 2026

docs(brief): add M1.1.3 frozen brief

refactor(forge): split narrowphase into a package (M1.1.3)

feat(forge): add supportingFace and contact manifold types (M1.1.3)

docs(brief): correct supportingFace direction wording (M1.1.3)

feat(forge): add EPA penetration depth and normal (M1.1.3)

fix(forge): harden EPA polytope robustness (M1.1.3)

docs(brief): epa signature carries pose for world output (M1.1.3)

feat(forge): add contact manifold generator (M1.1.3)

feat(forge): wire contact manifold into forge_3d (M1.1.3)

fix(forge): harden contact manifold (M1.1.3)

fix(forge): unique frame-stable manifold feature ids (M1.1.3)

docs(brief): ratify collide identical-pose order exception (M1.1.3)

test(forge): cover reference-corner manifold feature id (M1.1.3)

fix(forge): reference-corner feature id + pose sweep (M1.1.3)

docs(brief): log reference-corner feature id fix + pose sweep (M1.1.3)

fix(forge): encode incident face in reference corner id (M1.1.3)

docs(brief): log incident-face reference-corner id fix (M1.1.3)

fix(forge): class-tag single-contact feature ids (M1.1.3)

docs(brief): log single-contact feature id class-tagging (M1.1.3)

Commits on Jul 20, 2026

fix(forge): encode point-core sub-feature in single-contact id (M1.1.3)

docs(brief): log point-core sub-feature id fix (M1.1.3)

docs(forge): scope feature_id stability + doc hygiene (M1.1.3)

docs(brief): close M1.1.3

docs: add v0.11.3 M1.1.3 tag row to working memory

docs(claude-md): complete M1.1.3 current-state